ECE497 Project Rover - Revision history

Yoder: Removed grade. Moved to Fall2012

2013-05-18T16:19:18Z

Removed grade. Moved to Fall2012

Yoder: /* Grading Template */

2012-11-14T21:12:50Z

‎Grading Template

Yoder: /* Hardware Interfaces */

2012-11-14T21:10:49Z

‎Hardware Interfaces

Yoder: /* Software */

2012-11-14T20:54:29Z

‎Software

Yoder: /* Software */

2012-11-14T20:49:31Z

‎Software

Jessebrannon at 17:05, 13 November 2012

2012-11-13T17:05:54Z

Jessebrannon at 17:04, 13 November 2012

2012-11-13T17:04:33Z

Jessebrannon at 17:01, 13 November 2012

2012-11-13T17:01:26Z

Jessebrannon at 17:00, 13 November 2012

2012-11-13T17:00:31Z

Jessebrannon at 16:48, 13 November 2012

2012-11-13T16:48:25Z

@@ Line 1: / Line 1: @@
-[[Category:ECE497 |Project]]
+[[Category:ECE497Fall2012 |Project]]
 {{YoderHead}}
 Team members: [[user:Hansenrl|Ross Hansen]], [[user:jessebrannon|Jesse Brannon]], [[User:jungeml|Michael Junge]]
 == Executive Summary ==

@@ Line 9: / Line 9: @@
 <pre style="color:red">
 Executive Summary
-Installation Instructions (waiting details)
+Installation Instructions
 User Instructions
-Highlights
+Highlights (Nice video, good breaks on the robot!)
-Theory of Operation (Looking forward to more details)
+Theory of Operation
 Work Breakdown
 Future Work
 Conclusions
 Demo
-Late
+On time
-Comments: I'm looking forward to seeing this.
+Comments: Too bad the GPS navigation does work.
-Score:  10/100
+Score:  93/100
 </pre>

@@ Line 127: / Line 127: @@
 The BeagleBone is connected to the RC car via 4 GPIO pins and a ground wire. The four GPIO pins control left forward, left reverse, right forward, and right reverse on the tank-style drive base. Tank-style means that each side is controlled independently, as opposed to a standard steering where the user controls whether the car as a whole is moving forward or reverse and turns are accomplished by rotating the front axle. Figure 6 shows how the GPIO pins on BeagleBone are connected to the motor control PCB. As seen in Figure 4 the motor control wires are white. The GPIO pins are the two orange and two yellow wires labeled in the figure.
 The Motor Control pin layout is listed below. These are defined in movement.c, and can be redefined easily to match a different pin configuration. These pins are connected to relays on the RC car, so the motors are either on or off.
@@ Line 167: / Line 169: @@
 - I2C SCL                   19 - P9 Header
 The compass simply returns the current heading at a default rate of 20 Hz.
 === Software ===

← Older revision		Revision as of 20:54, 14 November 2012
Line 67:		Line 67:

	A Makefile is provided, and the code can be compiled with the command "make" in the root directory of the project; this will build a main binary ''movement'' and shared libraries for movement control over WiFi.		A Makefile is provided, and the code can be compiled with the command "make" in the root directory of the project; this will build a main binary ''movement'' and shared libraries for movement control over WiFi.
−
−	~~<span style="color:red">I get an error running make. compass.c doesn't compile.</span>~~

	See the README for detailed instructions on installation and documentation of the code structure.		See the README for detailed instructions on installation and documentation of the code structure.

← Older revision		Revision as of 20:49, 14 November 2012
Line 67:		Line 67:

	A Makefile is provided, and the code can be compiled with the command "make" in the root directory of the project; this will build a main binary ''movement'' and shared libraries for movement control over WiFi.		A Makefile is provided, and the code can be compiled with the command "make" in the root directory of the project; this will build a main binary ''movement'' and shared libraries for movement control over WiFi.
		+
		+	<span style="color:red">I get an error running make. compass.c doesn't compile.</span>

	See the README for detailed instructions on installation and documentation of the code structure.		See the README for detailed instructions on installation and documentation of the code structure.

← Older revision		Revision as of 17:04, 13 November 2012
Line 151:		Line 151:

	Over UART, the GPS sends back 6 strings in NMEA format every second. Each of these 6 strings includes some or all of the following data: Latitude, Longitude, if the GPS has a fix, UTC time, and some other data that we don't need. For more information, read the [http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/GPS/D2523T-6_SPEC_20120220.pdf GPS' datasheet]. We chose to parse the string that starts with "$GPGLL" because it included all of the information we need listed previously.		Over UART, the GPS sends back 6 strings in NMEA format every second. Each of these 6 strings includes some or all of the following data: Latitude, Longitude, if the GPS has a fix, UTC time, and some other data that we don't need. For more information, read the [http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/GPS/D2523T-6_SPEC_20120220.pdf GPS' datasheet]. We chose to parse the string that starts with "$GPGLL" because it included all of the information we need listed previously.
		+
		+	The format for the $GPGLL string is:
		+	$GPGLL,Latitude,N/S,Longitude,E/W,UTC time,Fix Status,Mode Indicator,Checksum

	This is what the $GPGLL string looks like when the GPS does not have a fix.		This is what the $GPGLL string looks like when the GPS does not have a fix.

@@ Line 150: / Line 150: @@
 - NC
-Over UART, the GPS sends back 6 strings in NMEA format. Each of these 6 strings includes some or all of the following data: Latitude, Longitude, if the GPS has a fix, UTC time, and some other data that we don't need. For more information, read the [http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/GPS/D2523T-6_SPEC_20120220.pdf GPS' datasheet]. We chose to parse the string that starts with "$GPGLL" because it included all of the information we need listed previously.
+Over UART, the GPS sends back 6 strings in NMEA format every second. Each of these 6 strings includes some or all of the following data: Latitude, Longitude, if the GPS has a fix, UTC time, and some other data that we don't need. For more information, read the [http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/GPS/D2523T-6_SPEC_20120220.pdf GPS' datasheet]. We chose to parse the string that starts with "$GPGLL" because it included all of the information we need listed previously.
 This is what the $GPGLL string looks like when the GPS does not have a fix.

@@ Line 149: / Line 149: @@
 - NC
 - NC
 The [https://www.sparkfun.com/products/7915 compass] is connected to the BeagleBone via I2C. The Compass pin layout is as follows:

@@ Line 49: / Line 49: @@
 [[File:ECE497 Rover Power Circuit.jpg|thumb|Figure 4 - Power Circuit]]
 [[File:ECE497 Rover 5v regulator.JPG|thumb|Figure 5 - Regulator Circuit]]
-After several problems with the WiFi on the BeagleBone not working as expected, we decided to overwrite our Angstrom Beagle Image with Ubuntu. We followed the [http://elinux.org/BeagleBoardUbuntu BeagleBoardUbuntu] page on elinux.org.
+After several problems with the WiFi on the BeagleBone not working as expected, we decided to overwrite our Angstrom Beagle Image with Ubuntu. To install Ubuntu, we simply followed [http://www.instructables.com/id/BeagleBone-Ubuntu-OS-LXDE-GUI/ this Instructable] up to and including Step 6. There is also good information on the [http://elinux.org/BeagleBoardUbuntu BeagleBoardUbuntu] page on elinux.org.
-However, if you are a purist Beagle user and want to pursue the Angstrom route then I would suggest reading Dr. Yoder's [http://elinux.org/EBC_Exercise_02_Out-of-the-Box,_Bone Out of The Box, Bone]. ''Note: If you want WiFi to work properly, install the A5 image not the A6 image.''
+However, if you want to pursue the Angstrom route then I would suggest reading Dr. Yoder's [http://elinux.org/EBC_Exercise_02_Out-of-the-Box,_Bone Out of The Box, Bone]. ''Note: If you want WiFi to work properly, install the A5 image not the A6 image.''
 Whether you use the Angstrom image or Ubuntu is up to you. However, you will still need to wire the BeagleBone up so that it runs off of battery power. We bought a 7.4 Vdc 10400 mAh [http://www.all-battery.com/li-ion1865074v10400mahrechargeablebatterymodulewithpcb-31577.aspx battery]. Since the BeagleBone runs off of 5V with a possible peak current of 1.5 amps we needed a 5V regulator that can supply that power [http://www.ti.com/product/lm2576hv voltage regulator]. To be safe and avoid short-circuiting the BeagleBone, it is advisable to buy a [http://www.digikey.com/scripts/DkSearch/dksus.dll?WT.z_header=search_go&lang=en&keywords=CP3-1000-ND&x=0&y=0&cur=USD barrel connector] for proper power connection. This barrel connector replaces the need to solder wires to the hardware of the BeagleBone, thus allowing for us to safely supply power the way the BeagleBone was designed. As seen in Figure 4, the barrel connector, battery and voltage regulator with heat sink can be seen. Figure 5 is our Regulator circuit. It shows how to connect the regulator to the rest of the BeagleBone hardware.